Impact of friction and gait parameters on the optimization of series elastic actuators for gait assistance
Mechanism and Machine Theory, pp. 737-749, 2019.
Abstract:
•Parametric study of the performance of a (clutchable) series elastic actuator.•Gait parameters and friction strongly impact actuator constraints and consumed energy.•Friction has less influence on actuator constraints for the clutchable actuator.•Models show good accordance with experimentally measured energy consumption.•Gait parameters...More
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